{"id":"https://openalex.org/W7166666814","doi":"https://doi.org/10.48550/arxiv.2606.29774","title":"Analytic Concept-Centric Memory for Agentic Embodied Manipulation","display_name":"Analytic Concept-Centric Memory for Agentic Embodied Manipulation","publication_year":2026,"publication_date":"2026-06-29","ids":{"openalex":"https://openalex.org/W7166666814","doi":"https://doi.org/10.48550/arxiv.2606.29774"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.29774","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29774","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.29774","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139642998","display_name":"Mingyang Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Mingyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108848481","display_name":"Xiujian Liang","orcid":"https://orcid.org/0009-0000-3592-8843"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Xiujian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139705169","display_name":"Jiude Wei","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei, Jiude","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139643435","display_name":"Qichen He","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Qichen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139714578","display_name":"Donglin Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Donglin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139688941","display_name":"Cewu Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Cewu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5020266211","display_name":"J F Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Jianhua","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.3215999901294708,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.3215999901294708,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.2578999996185303,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.08780000358819962,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.6521000266075134},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.616599977016449},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.45210000872612},{"id":"https://openalex.org/keywords/memory-model","display_name":"Memory model","score":0.4499000012874603},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4375},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4221000075340271},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.3828999996185303},{"id":"https://openalex.org/keywords/semantic-memory","display_name":"Semantic memory","score":0.37040001153945923}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6891999840736389},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.6521000266075134},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.616599977016449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46399998664855957},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.45210000872612},{"id":"https://openalex.org/C12186640","wikidata":"https://www.wikidata.org/wiki/Q6815743","display_name":"Memory model","level":3,"score":0.4499000012874603},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4375},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4221000075340271},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.3871999979019165},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.3828999996185303},{"id":"https://openalex.org/C197914299","wikidata":"https://www.wikidata.org/wiki/Q18650","display_name":"Semantic memory","level":3,"score":0.37040001153945923},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3589000105857849},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3310999870300293},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.31189998984336853},{"id":"https://openalex.org/C88576662","wikidata":"https://www.wikidata.org/wiki/Q18646","display_name":"Episodic memory","level":3,"score":0.3098999857902527},{"id":"https://openalex.org/C206588197","wikidata":"https://www.wikidata.org/wiki/Q846574","display_name":"Reuse","level":2,"score":0.3012999892234802},{"id":"https://openalex.org/C112049663","wikidata":"https://www.wikidata.org/wiki/Q18608","display_name":"Explicit memory","level":4,"score":0.2964000105857849},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.29280000925064087},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.2700999975204468},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.2685000002384186},{"id":"https://openalex.org/C74426580","wikidata":"https://www.wikidata.org/wiki/Q719484","display_name":"Memory map","level":3,"score":0.2637999951839447},{"id":"https://openalex.org/C119907115","wikidata":"https://www.wikidata.org/wiki/Q6815725","display_name":"Memory errors","level":3,"score":0.26179999113082886},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.26159998774528503},{"id":"https://openalex.org/C58632812","wikidata":"https://www.wikidata.org/wiki/Q7936625","display_name":"Visual short-term memory","level":4,"score":0.2578999996185303}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.29774","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29774","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.29774","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29774","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Long-horizon":[0],"embodied":[1,55],"manipulation":[2,78],"requires":[3],"agents":[4],"to":[5,34,110],"remember":[6],"persistent":[7],"objects,":[8,113],"track":[9],"changing":[10],"scene":[11,85],"states,":[12,40,114],"and":[13,43,77,84,94,99,116,121,133,146,152],"reuse":[14],"prior":[15],"interaction":[16],"knowledge.":[17],"However,":[18],"existing":[19],"agent":[20,105],"memories":[21,86],"are":[22,67],"often":[23],"stored":[24],"as":[25],"unstructured":[26,151],"histories":[27],"or":[28],"embedding-based":[29,153],"records,":[30],"making":[31],"it":[32],"difficult":[33],"retrieve":[35],"manipulation-relevant":[36],"object":[37,83,144],"parts,":[38,71],"physical":[39],"action":[41],"effects,":[42],"executable":[44],"skills.":[45],"We":[46],"propose":[47],"an":[48],"analytic":[49,63],"concept-centric":[50],"memory":[51,58,89,96,131,154],"framework":[52],"for":[53,90,97],"agentic":[54],"manipulation.":[56],"Our":[57],"organizes":[59],"experience":[60],"around":[61],"structured":[62,107],"concepts,":[64],"where":[65],"objects":[66],"represented":[68],"by":[69],"semantic":[70],"parametric":[72],"templates,":[73],"grounded":[74],"poses,":[75],"affordances,":[76],"states.":[79],"It":[80],"further":[81],"connects":[82],"with":[87],"transition":[88],"action-induced":[91],"state":[92],"changes":[93],"skill":[95,122,148],"template-grounded":[98],"policy-grounded":[100],"execution.":[101],"At":[102],"runtime,":[103],"the":[104],"performs":[106],"coarse-to-fine":[108],"retrieval":[109,142],"identify":[111],"relevant":[112],"transitions,":[115],"skills,":[117],"supporting":[118],"state-consistent":[119],"reasoning":[120],"reuse.":[123],"Experiments":[124],"on":[125],"memory-dependent":[126],"manipulation,":[127],"articulated-object":[128],"generalization,":[129],"real-world":[130],"evaluation,":[132],"ablations":[134],"show":[135],"that":[136],"our":[137],"approach":[138],"improves":[139],"task":[140],"completion,":[141],"accuracy,":[143],"re-identification,":[145],"cross-object":[147],"generalization":[149],"over":[150],"baselines.":[155]},"counts_by_year":[],"updated_date":"2026-07-01T06:29:00.853634","created_date":"2026-07-01T00:00:00"}